JP2018065515A - Operation switching device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an operation switching device capable of reducing a burden of a driver.SOLUTION: A next section passing prediction time calculation part 2 acquires a next section distance D, and calculates a passing prediction time T1 based on the next section distance D and a travel speed S. An operation mode switching determination part 4 controls so as not to execute switching in an operation mode switching part 5 for switching an automatic operation mode of making a vehicle automatically travel and a manual operation mode of manually traveling when the passing prediction time T1 on an automatic operation recommendation section or a manual operation recommendation section calculated by the next section passing prediction time calculation part 2, is less than time of adding an allowance value α to two times of an operation mode switching time T2.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an operation switching device.

  For automatic driving of vehicles such as automobiles, it is divided into sections where automatic driving may be performed (automatic driving recommended section) and sections where manual driving is recommended (manual driving recommended section). It has been proposed to travel by switching between automatic operation and manual operation.

  For example, in Patent Document 1, when an expressway section is set as an automatic driving section (automatic driving recommended section), a PA (final PA) immediately before the exit IC of the highway section is used as a evacuation area. Set a point before the final PA in the highway section as a takeover point to start taking over from automatic operation to manual operation, and when the automatic operation switch 5 is switched on, the evacuation area becomes the destination It is described that control is performed to perform automatic operation.

JP 2008-290680 A

  In the method of setting the recommended automatic driving section and the recommended manual driving section described above, for example, when switching from the recommended manual driving section to the recommended automatic driving section → the recommended manual driving section in a short time, the short-time automatic driving is performed. As a result, the driver may be overwhelmed and burdened.

  Then, this invention makes it a subject to provide the driving | operation switching apparatus which can reduce a driver | operator's burden, for example.

  In order to solve the above problems, the invention described in claim 1 includes a switching unit that switches between the automatic operation mode and the manual operation mode, the automatic operation mode in the recommended automatic operation section, and the manual operation mode in the recommended manual operation section. A switching control unit that controls the switching unit so that the switching control unit is switched from one of the automatic driving recommended section and the manual driving recommended section to the other even after switching. Based on at least one of the travel distance and travel time of the section, the switching unit is controlled not to be switched.

  According to the eighth aspect of the present invention, the switching is performed by switching the presentation information of the presentation unit so that the information related to the automatic driving mode in the automatic driving recommended section and the information related to the manual driving mode in the recommended manual driving section. Including a control unit, even if the switching control unit is switched from one of the automatic driving recommended section and the manual driving recommended section to the other, based on at least one of the travel distance and travel time of the section after switching, Control is performed so as not to switch the presentation information.

  The invention according to claim 9 is an operation switching method of an operation switching device including a switching unit that switches between an automatic operation mode and a manual operation mode, and is in the automatic operation mode in an automatic operation recommended section and in the manual operation recommended section. Including a switching control step of controlling the switching unit so as to be in a manual operation mode, the switching control step is switched even when switching from one of the automatic driving recommended section and the manual driving recommended section to the other Control is performed so as not to switch the switching unit based on at least one of a travel distance and a travel time in a later section.

  The invention according to claim 9 is characterized in that the operation switching method according to claim 7 is executed by a computer.

It is a block block diagram of the driving | operation switching apparatus concerning 1st Example of this invention. It is a flowchart of operation | movement of the driving | operation switching apparatus shown by FIG. It is explanatory drawing which showed the specific example of operation mode switching. It is explanatory drawing which showed the specific example of operation mode switching. It is a block block diagram of the driving | operation switching apparatus concerning the 2nd Example of this invention. It is a flowchart of operation | movement of the driving | operation switching apparatus shown by FIG.

  Hereinafter, the operation switching device concerning one embodiment of the present invention is explained. An operation switching device according to an embodiment of the present invention includes a switching unit that switches between an automatic operation mode and a manual operation mode, and a switching unit that is in an automatic operation mode in an automatic operation recommended section and in a manual operation mode in a manual operation recommended section. A switching control unit for controlling The switching control unit switches the switching unit based on at least one of the travel distance and travel time of the section after switching even when switching from one of the recommended automatic driving section and the recommended manual driving section to the other. Control not to do. By doing in this way, mode switching is not performed depending on the travel distance and travel time of the recommended automatic driving section or the recommended manual driving section, and the burden on the driver due to frequent switching can be reduced.

  Further, the switching control unit may perform control so as not to perform switching in the switching unit when the travel distance is less than a predetermined distance. In this way, when the travel distance of the recommended automatic driving section or the recommended manual driving section is short, it is assumed that frequent mode switching occurs, and mode switching can be suppressed.

  Further, the switching control unit may perform control so as not to perform switching in the switching unit when the traveling time is less than a predetermined time. By doing in this way, when the driving time is short in the automatic driving recommended section or the manual driving recommended section, it is assumed that frequent mode switching occurs, and mode switching can be suppressed.

  In addition, a speed acquisition unit that acquires the speed of the vehicle may be further provided, and the switching control unit may predict a travel time based on a travel distance and a speed, and control switching in the switching unit based on the travel time. In this way, since the travel time can be predicted from the travel distance and travel speed, the switching unit can be easily controlled based on information obtained from the vehicle.

  The predetermined time may be determined based on the time and speed required for switching between the automatic operation mode and the manual operation mode. By doing in this way, the minimum time required for operation | movement of an apparatus is ensured, Furthermore, when driving speed is high, it can become difficult to generate | occur | produce switching of an operation mode by considering speed.

  In addition, it further includes a traffic information acquisition unit that acquires traffic information in the recommended automatic driving section or the recommended manual driving section, and the switching control unit predicts the travel time in consideration of the traffic information, and switches based on the travel time. Switching in the unit may be controlled. By doing in this way, it is possible to predict the travel time with higher accuracy in consideration of the traffic jam information and to control the switching unit.

  Moreover, you may further provide the presentation part which shows different information to the passenger of a vehicle by automatic driving mode and manual driving mode. By doing in this way, when presenting information to a presentation part, it can reduce that a passenger feels annoying by frequent switching of a display.

  In addition, the operation switching device according to another embodiment of the present invention displays the presentation information of the presentation unit so that the information related to the automatic operation mode is included in the recommended automatic operation section and the information related to the manual operation mode is included in the recommended manual operation section. A switching control unit for switching and controlling is provided. Then, even when the switching control unit switches from one of the recommended automatic driving section and the recommended manual driving section to the other, the switching of the presentation information is performed based on at least one of the travel distance and the travel time of the section after switching. Control to not perform. By doing this, the presentation information is not switched depending on the travel distance and travel time of the recommended automatic driving section or recommended manual driving section, and the burden on the driver due to flickering of the screen etc. due to frequent switching is reduced. can do.

  The operation switching method according to an embodiment of the present invention includes a switching control step of controlling the switching unit so that the automatic operation mode is set in the automatic operation recommended section and the manual operation mode is set in the manual operation recommended section. And even if it is a case where a switching control process switches from one side of an automatic driving recommendation section and a manual driving recommendation section to the other, switching of a switching part is based on at least one of the travel distance and the travel time of the section after switching. Control not to do. By doing in this way, mode switching is not performed depending on the travel distance and travel time of the recommended automatic driving section or the recommended manual driving section, and the burden on the driver due to frequent switching can be reduced.

  Moreover, it is good also as an operation switching program which performs the operation switching method mentioned above with a computer. In this way, using a computer, mode switching is not performed depending on the travel distance or travel time of the recommended automatic driving section or the recommended manual driving section, for example, suppressing mode switching for a short time and The burden can be reduced.

  An operation switching apparatus according to a first embodiment of the present invention will be described with reference to FIGS. As shown in FIG. 1, the operation switching device 1 according to the present embodiment includes a next section estimated passage time calculation unit 2, an α value calculation unit 3, an operation mode switching determination unit 4, an operation mode switching unit 5, It has.

  The operation switching device 1 is mounted on a vehicle such as an automobile as an ECU (Electronic Control Unit), for example. Then, a microcontroller (microcomputer) included in the ECU functions as the above-described next section estimated passage time calculation unit 2, α value calculation unit 3, operation mode switching determination unit 4, and operation mode switching unit 5. That is, it is configured as an operation switching control program that operates on a microcomputer. Of course, not all programs but all or a part of each block in FIG. 1 may be hardware.

  In the present embodiment, it is assumed that the vehicle on which the operation switching device 1 is mounted can travel by automatic driving. That is, it is possible to switch between the automatic operation mode and the manual operation mode.

  In addition, an automatic driving recommended section that is a section where the vehicle may travel by automatic driving and a manual driving recommended section that is a section where manual driving is recommended are set. These sections may be publicly determined by the country, local governments, or the like, or may be arbitrarily determined by an operator such as an automobile manufacturer or a device manufacturer such as a navigation system. Alternatively, the user of the vehicle may set and determine personally.

  In this embodiment, the navigation system 10 searches for a route on which the vehicle travels. As is well known, the navigation system 10 is a system that searches for a route to a destination, acquires a current location by a GPS (Global Positioning System) or the like, and guides the destination by display or voice. It is assumed that the route searched by the navigation system 10 includes an automatic driving recommended section and a manual driving recommended section.

  The next section passage predicted time calculation section 2 as a section information acquisition section and a speed acquisition section, for example, the next section distance D acquired from the navigation system 10 and the travel acquired from a sensor (vehicle speed pulse or the like) that detects the travel speed of the vehicle. Based on the speed S, the predicted passage time T1 of the next section is calculated. The predicted passage time T1 is the travel time of the section after switching calculated by dividing the next section distance D by the travel speed S (T1 = D / S). In addition, instead of the traveling speed S, the speed limit of the section may be acquired from the navigation system 10 or the like and calculated using the speed limit. That is, the next section predicted passage time calculation unit 2 acquires information related to the recommended automatic driving section and the recommended manual driving section in which the vehicle travels. Moreover, since the next section passage predicted time calculation unit 2 calculates (predicts) the travel time based on the next period distance D and the travel speed S, it also functions as a switching control unit.

  Here, the next section is an automatic driving recommended section or a manual driving recommended section after the next operation mode switching occurs on the route searched by the navigation system 10. That is, when the vehicle is currently traveling in the recommended automatic driving section, the next section is a recommended manual driving section, and when the vehicle is currently traveling in the recommended manual driving section, the next section is an automatic driving recommended section.

  The α value calculation unit 3 calculates a margin value α to be added to the operation mode switching time T2 in the determination by the operation mode switching determination unit 4 (α ≧ 0). The margin value α may be made variable according to the traveling speed S of the vehicle, for example. For example, when the traveling speed S is high, the α value may be increased to make it difficult to switch the operation mode. Further, the margin value α may be set by the driver or may be a fixed value. Therefore, the α value calculation unit 3 calculates the margin value α based on the travel speed S, settings, and the like.

  The operation mode switching determination unit 4 as the switching control unit determines whether to switch the operation mode (automatic operation mode or manual operation mode) based on the predicted passage time T1, the margin value α, and the operation mode switching time T2. To do. The operation mode switching time T2 is a time for switching from the automatic operation mode to the manual operation mode, or from the manual operation mode to the automatic operation mode, and is a value measured and set in advance for each vehicle or system.

  Determination conditions in the operation mode switching determination unit 4 are as follows. When the predicted passage time T1 is less than the addition value (2 × T2 + α) of twice the operation mode switching time T2 and the margin value α, the operation mode is not switched. When the predicted passage time T1 is equal to or longer than the addition value of twice the operation mode switching time T2 and the margin value α, the operation mode is switched. The reason why it is twice the operation mode switching time T2 is that, for example, when switching from the manual operation mode to the automatic operation mode to the manual operation mode, the operation mode is switched twice. That is, the predetermined time (2 × T2 + α) is determined based on the time required for switching between the automatic operation mode and the manual operation mode and the traveling speed.

  The operation mode switching unit 5 as the switching unit switches the operation mode based on the determination result of the operation mode switching determination unit 4. For example, when the mode is switched to the automatic operation mode, the vehicle is automatically controlled according to the road on which the accelerator, the brake, the steering wheel, etc. travel and the external situation.

  Moreover, the operation mode switching part 5 switches, when display contents (presentation information), such as a display means (presentation part) provided in HUD (Head Up Display), a meter, or an instrument panel, are switched by modes. That is, the HUD or the like serves as a presentation unit that presents different information to the vehicle occupant in the automatic operation mode and the manual operation mode.

  Next, the operation of the operation switching device 1 configured as described above will be described with reference to the flowchart of FIG.

  First, in step S11, the next section estimated passage time calculation unit 2 determines whether or not a section having a different operation mode is entered. If so (YES), the process proceeds to step S12; otherwise (NO). ) Waits at this step. In this step, when the next section estimated passage time calculation unit 2 approaches a section (a point where the switching of the driving mode may occur) different from the current mode based on the route information acquired from the navigation system 10. judge.

  Next, in step S12, the next section passage prediction time calculation unit 2 calculates the switching destination passage prediction time T1 based on the next section distance D obtained from the navigation system 10 and the traveling speed S obtained from the speed sensor or the like. Then, the process proceeds to step S3.

  Next, in step S13, the operation mode switching determination unit 4 acquires the margin value α from the α value calculation unit 3, and proceeds to step S14. If the margin value α is a constant, the value set in the α value calculation unit 3 is read, and if it is a variable, the α value calculation unit 3 calculates and outputs the α value.

  Next, in step S14, the operation mode switching determination unit 4 determines whether or not the predicted passage time T1 is less than the addition value of twice the operation mode switching time T2 and the margin value α (2 × T2 + α> T1). . If it is less than the addition value of the operation mode switching time T2 and the margin value α (in the case of YES), the process proceeds to step S15, and if it is not less than the addition value of twice the operation mode switching time T2 and the α value (NO) In the case of), the process proceeds to step S16.

  Next, in step S15, since the result of determination in step S14 is less than the addition value of twice the operation mode switching time T2 and the margin value α, the operation mode switching unit 5 Continue the mode. That is, when the travel time for the recommended automatic driving section or the recommended manual driving section is less than the predetermined time, the driving mode switching unit 5 is switched even when the automatic driving recommended section or the manual driving recommended section is switched from one to the other. Control is performed so as not to perform switching in the (switching unit). If the operation mode is not switched, it is desirable to notify the driver or the like.

  On the other hand, in step S16, as a result of the determination in step S14, the operation mode switching unit 5 switches the operation mode because it is equal to or greater than the addition value of twice the operation mode switching time T2 and the margin value α.

  As is clear from the above description, step S11 functions as a section information acquisition process, and steps S12 to S16 function as a switching control process.

  Here, a specific example of the operation of the operation switching device 1 will be described with reference to FIG. In FIG. 3, the national road N intersects the city road R1 at the intersection I1, and intersects the city road R2 at the intersection I2. Then, as a route RT on which the vehicle travels, it is assumed that a right turn from the city road R1 to the national road N at the intersection I1 and a left turn to the city road R2 at the next intersection I2. In addition, it is assumed that the national road N is an automatic driving recommended section and the city roads R1 and R2 are manual driving recommended sections.

  In the example of FIG. 3, since switching of the operation mode occurs at the intersections I1 and I2, when the predicted passage time T1 in this section is less than the double value of the operation mode switching time T2 and the margin value α. Switching of the driving mode frequently occurs, and switching of the driving mode for a short time may be a burden on the driver. In addition, when the display in the display means provided on the HUD, meter, or instrument panel is switched according to the operation mode, the screen may appear to flicker due to a short switching. Therefore, when the above condition (2 × T2 + α> T1) is satisfied, the automatic operation mode is not switched even when the automatic operation recommended section is switched to the manual operation recommended section.

  In the example of FIG. 3, the case where the distance between the intersections is short has been described. However, for example, when the vehicle travels straight on the city road R <b> 1 in FIG. It is also possible to do.

  Moreover, although the description mentioned above was a case where the automatic driving | operation recommendation area of a short area (short time) was pinched | interposed into a manual driving recommendation area, it controls similarly by conversely. That is, as shown in the upper part of FIG. 4, the operation mode is not switched when a short period (short time) manual operation recommended section is sandwiched between automatic operation recommended sections.

  Furthermore, as shown in the lower part of FIG. 4, even when a short section (short time) automatic operation recommended section or manual operation recommended section continues, the operation mode is not switched in those sections. In the lower part of FIG. 4, the operation mode is not switched at the points p1 and p2, but the operation mode is switched at the point p3.

  In the case of the lower part of FIG. 4, when it is determined that the next section does not switch the driving mode, it may be continuously determined whether the next section is switched from the distance D, the traveling speed S, or the like. That is, not only the next one section but also a plurality of sections may be determined. For example, when it is determined that the operation mode is not switched at the point p1, it is determined whether the operation mode is continuously switched at the points p2 and p3. By doing in this way, it is possible to preliminarily determine a range in which a short section (short time) automatic driving recommended section and a manual driving recommended section continue as shown in the lower part of FIG.

  According to the present embodiment, the operation switching device 1 is set to the operation mode switching unit 5 that switches between the automatic operation mode and the manual operation mode, the automatic operation mode in the recommended automatic operation section, and the manual operation mode in the recommended manual operation section. And an operation mode switching determination unit 4 for controlling the operation mode switching unit 5. And even if it is a case where it switches from one side of an automatic driving recommendation section and a manual driving recommendation section to the other, passage prediction time T1 about the automatic driving recommendation section or the manual driving recommendation section which the next section passage prediction time calculation part 2 computed Is less than the time obtained by adding the margin value α to twice the operation mode switching time T2, the operation mode switching determination unit 4 performs control so that the operation mode switching unit 5 is not switched. In this way, if the travel time of the recommended automatic driving section or the recommended manual driving section is short, it is assumed that frequent switching of the driving mode occurs, and the switching of the driving mode is not performed for a short time. It is possible to suppress the driving mode switching and reduce the burden on the driver.

  Moreover, since the driving mode switching determination unit 4 calculates the predicted passage time T1 from the next section distance D and the traveling speed S, the driving mode switching unit 5 can be easily controlled based on information obtained from the vehicle. Can do.

  In the above-described embodiment, for example, the next section predicted passage time calculation unit 2 acquires traffic congestion information on the route by VICS (registered trademark) (Vehicle Information and Communication System) and the like, and the traffic prediction considering the traffic congestion information. The time T1 may be calculated. That is, the next section predicted passage time calculation unit 2 functions as a traffic jam information acquisition unit that acquires traffic jam information of the recommended automatic driving section or the recommended manual driving section. In this way, it is possible to estimate the passage predicted time T1 with higher accuracy in consideration of traffic jam information and to control the operation mode switching unit 5.

  In the above-described embodiment, it is determined whether to switch the operation mode by calculating the predicted passing time T1, but the travel distance of the recommended automatic driving section or the recommended manual driving section without calculating the predicted passing time T1. It may be determined whether to switch the operation mode based on (next section distance D). For example, in FIG. 3, the driving mode is not switched when the distance traveled on the national road N is less than a predetermined distance determined in consideration of switching of the driving mode. That is, when the travel distance is less than the predetermined distance, the switching in the switching unit may not be performed. By doing in this way, when the automatic driving recommended section or the manual driving recommended section is short, it can be considered that frequent mode switching occurs, and switching of the driving mode can be suppressed.

  Further, when the switching of the operation mode is controlled based on the travel distance, the predetermined distance may be made variable according to the speed limit of the road on which the vehicle travels. For example, the predetermined distance of a road having a speed limit of 60 km / h is made longer than that of a road having a speed limit of 30 km / h.

  Next, an operation switching apparatus according to a second embodiment of the present invention will be described with reference to FIGS. The same parts as those in the first embodiment described above are denoted by the same reference numerals and description thereof is omitted.

  The present embodiment is the same as the first embodiment until the determination by the operation mode switching determination unit 4, except that the operation mode switching unit 5 is a display switching unit 5A. The display switching unit 5 </ b> A switches the display content of the display unit 20 to a display corresponding to the operation mode based on the determination result of the operation mode switching determination unit 4.

  The display unit 20 is a display unit provided in, for example, a HUD, a meter, or an instrument panel, and the display is switched according to the operation mode. For example, in the case of the manual operation mode, information necessary for driving such as guidance information of the navigation system 10 (information related to the manual driving mode) is displayed, and in the case of the automatic driving mode, peripheral facility information, entertainment information, etc. Information related to automatic operation mode) is displayed. That is, the display unit 20 functions as a presentation unit that presents different information to the passenger according to the driving mode.

  FIG. 6 shows the operation of the operation switching device 1 according to the present embodiment. In FIG. 6, steps S11 to S14 are the same as in the first embodiment. In step S25, as a result of the determination in step S14, the display switching unit 5A does not switch the display content of the display unit 20 because it is less than the addition value of twice the operation mode switching time T2 and the margin value α. The display corresponding to the current mode is continued.

  On the other hand, in step S26, as a result of the determination in step S14, since it is equal to or greater than the addition value of twice the operation mode switching time T2 and the margin value α, the display switching unit 5A displays the display content of the display unit 20 Switch according to the mode.

  That is, the display switching unit 5A is based on at least one of the travel distance and travel time of the section after switching even when switching from one of the two sections of the recommended automatic driving section and the recommended manual driving section to the other. Thus, it functions as a switching control unit that controls the presentation information not to be switched.

  In this embodiment, the determination condition in step S14 is the same as that in the first embodiment. However, this embodiment is characterized by display switching control. When it is less than the time when the display unit 20 does not feel flickering, the switching may not be performed. That is, the threshold value may be different from that of the first embodiment.

  According to this embodiment, when the predicted passage time T1 for the recommended automatic driving section or the recommended manual driving section is less than a predetermined time, the display unit displays different information to the vehicle occupant in the automatic driving mode and the manual driving mode. Control is performed so that the display content of 20 is not switched. By doing so, it is possible to reduce the burden on the driver due to the fact that the passenger feels flickering by frequently switching the display.

  In the two embodiments described above, the display unit such as the display unit 20 has been described as the presentation unit. However, the present invention is not limited to the display and may include presentation by voice.

  Further, the present invention is not limited to the above embodiment. That is, those skilled in the art can implement various modifications in accordance with conventionally known knowledge without departing from the scope of the present invention. Of course, such modifications are included in the scope of the present invention as long as the configuration of the operation switching device of the present invention is provided.

1, 1A operation switching device secondary section passage prediction time calculation section (section information acquisition section, switching control section, speed acquisition section, traffic jam information acquisition section)
4 Operation mode switching judgment part (switching control part)
5 Operation mode switching part (switching part)
5A Display switching unit (switching control unit)
20 Display section (presentation section)
S11 Whether the operation mode is in a different section (section information acquisition step)
S12 Calculate the predicted passage time of the switching destination section (switching control process)
S13 Obtain α value (switching control process)
S14 Determine whether to switch (switching control process)
S15 Control not to switch (switching control process)

Claims (10)

A switching unit for switching between automatic operation mode and manual operation mode;
A switching control unit that controls the switching unit so as to be in the automatic driving mode in the automatic driving recommended section and in the manual driving mode in the manual driving recommended section;
Even when the switching control unit switches from one of the recommended automatic driving section and the recommended manual driving section to the other, based on at least one of the travel distance and the traveling time of the section after switching, Control not to switch,
An operation switching device characterized by that.   The operation switching device according to claim 1, wherein the switching control unit performs control so as not to perform switching in the switching unit when the travel distance is less than a predetermined distance.   The operation switching device according to claim 1, wherein the switching control unit controls the switching unit not to perform switching when the travel time is less than a predetermined time. A speed acquisition unit for acquiring the speed of the vehicle;
The operation switching device according to claim 3, wherein the switching control unit predicts the travel time based on the travel distance and the speed, and controls switching in the switching unit based on the travel time.   The operation switching device according to claim 4, wherein the predetermined time is determined based on a time required for switching between the automatic operation mode and the manual operation mode and the speed. A traffic information acquisition unit for acquiring traffic information in the automatic driving recommended section or the manual driving recommended section;
The switching control unit predicts the travel time in consideration of the traffic jam information, and controls switching in the switching unit based on the travel time. The operation switching device according to item.   The operation switching device according to any one of claims 1 to 6, further comprising a presentation unit that presents different information to a passenger of the vehicle in the automatic operation mode and the manual operation mode. A switching control unit that switches and controls the presentation information of the presentation unit so as to be information related to the automatic driving mode in the automatic driving recommended section, and information related to the manual driving mode in the manual driving recommended section;
Even when the switching control unit switches from one of the recommended automatic driving section and the recommended manual driving section to the other, based on at least one of the travel distance and the travel time of the section after the switching, Control not to switch,
An operation switching device characterized by that. An operation switching method of an operation switching device including a switching unit that switches between an automatic operation mode and a manual operation mode,
A switching control step for controlling the switching unit so as to be in the automatic driving mode in the automatic driving recommended section and in the manual driving mode in the manual driving recommended section,
Even when the switching control step is switched from one of the recommended automatic driving section and the recommended manual driving section to the other, based on at least one of the travel distance and the travel time of the section after the switching, Control not to switch,
An operation switching method characterized by that.   An operation switching program that causes a computer to execute the operation switching method according to claim 9.

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